Algorithmic Solutions for Computing Precise Maximum Likelihood 3D Point Clouds from Mobile Laser Scanning Platforms
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TL;DR: A general framework for calibrating mobile sensor platforms that estimates all configuration parameters for any arrangement of positioning sensors, including odometry, and a novel semi-rigid Simultaneous Localization and Mapping (SLAM) algorithm that corrects the vehicle position at every point in time along its trajectory, while simultaneously improving the quality and precision of the entire acquired point cloud.
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Abstract: Mobile laser scanning puts high requirements on the accuracy of the positioning systems and the calibration of the measurement system. We present a novel algorithmic approach for calibration with the goal of improving the measurement accuracy of mobile laser scanners. We describe a general framework for calibrating mobile sensor platforms that estimates all configuration parameters for any arrangement of positioning sensors, including odometry. In addition, we present a novel semi-rigid Simultaneous Localization and Mapping (SLAM) algorithm that corrects the vehicle position at every point in time along its trajectory, while simultaneously improving the quality and precision of the entire acquired point cloud. Using this algorithm, the temporary failure of accurate external positioning systems or the lack thereof can be compensated for. We demonstrate the capabilities of the two newly proposed algorithms on a wide variety of datasets.
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Citations
Efficient Large-scale Three-dimensional Mobile Mapping for Underground Mines
Robert Zlot,Michael Bosse +1 more
TL;DR: This work has developed a solution that can accurately estimate, based on laser range and inertial measurements, the six-degrees-of-freedom trajectory of a sensor platform that continuously moves through an environment, as well as a 3D point cloud map of that environment.
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Continuous-Time Three-Dimensional Mapping for Micro Aerial Vehicles with a Passively Actuated Rotating Laser Scanner
TL;DR: This work has developed a general-purpose airborne 3D mapping system capable of continuously scanning the environment during flight to produce accurate and dense point clouds without the need for a separate positioning system.
Evaluation of a Backpack-Mounted 3D Mobile Scanning System
TL;DR: It is shown that the backpack mobile mapping system can deal with the normal human walking motion, but has problems with irregular jittering and the applicability of the backpack in a suitable urban scenario.
64
Maritime laser scanning as the source for spatial data
Jakub Szulwic,Pawel Burdziakowski,Artur Janowski,Marek Przyborski,Paweł Tysiąc,Aleksander Wojtowicz,Arthem Kholodkov,Krzysztof Matysik,Maciej Matysik +8 more
TL;DR: In this paper, the authors present results of an experiment aimed at testing the possibilities of using mobile scanning at sea, which was conducted in the harbour and the associated environment of neighbouring southern coast of the Baltic Sea.
A man-portable, imu-free mobile mapping system
TL;DR: An inexpensive mobile mapping solution that can be mounted on a backpack that combines a horizontally mounted 2D profiler with a constantly spinning 3D laser scanner and an IMU-free solution.
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